关键词: 局部轨迹规划；贝塞尔曲线；编队行驶；位置判断

Abstract: This study focuses on the application of local trajectory planning based on Bezier curves in commercial vehicle platoons, especially for the local path planning of heavy commercial vehicle convoy driving scenarios. By utilizing the smoothness and adjustability of the third-order Bezier curve in mathematics, the paper adjusts the two control points of the Bezier curve to plan a smooth and feasible following trajectory, achieving accurate control of the vehicle's driving path shape and providing a path planning strategy for the autonomous driving system. The paper combines the position judgment algorithm and trajectory planning algorithm to verify through real-car testing that the method can generate smooth and continuous local following trajectories, effectively improving the stability and safety of the convoy vehicle following.

Key words: local trajectory planning; Bezier curves; the formation of driving; location judging